# 飞轮数据
int16 wheel1_speed
bool wheel1_forward
int16 wheel2_speed
bool wheel2_forward
int16 wheel3_speed
bool wheel3_forward
int16 wheel4_speed
bool wheel4_forward

# 磁矩数据
uint16 x_mag
bool x_mag_forward 
uint16 y_mag
bool y_mag_forward 
uint16 z_mag
bool z_mag_forward 

# IMU数据
float32 x_euler
float32 y_euler
float32 z_euler
float32 x_angular_velocity
float32 y_angular_velocity
float32 z_angular_velocity
float32 x_acceleration
float32 y_acceleration
float32 z_acceleration



